Accelnet Plus EtherCAT 2-Axis Module
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PRELIMINARY Model Ic Ip Vdc AE2-090-06 3 6 90 AE2-090-14 7 14 90 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 1 of 12 Accelnet Plus 2-Axis Module EtherCATRoHS AE2 CopleyControls Seventeen high-speed digital inputs with programmable functions are provided, and two low-speed inputs for motor temperature switches. An SPI (Serial Peripheral Interface) function is supported by another high-speed input and four high-speed digital outputs. If not used for SPI, the input and outputs are programmable for other functions. Three open-drain MOSFET outputs can drive loads powered up to 24 Vdc. An RS-232 serial port provides a connection to Copley’s CME2 software for commissioning, firmware upgrading, and saving configurations to flash memory. Drive power is transformer-isolated DC from regulated or unregulated power supplies. An AuxHV input is provided for “keep-alive” operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system. descriptiodescriptio n Accelnet AE2 is a dual-axis, high-performance, DC powered servo drive for position, velocity, and torque control of brushless and brush motors via EtherCAT, an Ethernet-based fieldbus. Using advanced FPGA technology, the AE2 provides a significant reduction in the cost per node in multi-axis EtherCAT systems. Each of the two nodes in the AE2 operates as an EtherCAT slave using the CANopen over EtherCAT (CoE) protocol of DSP-402 for motion control devices. Supported modes include: Cyclic Synchronous Position-Velocity-Torque, Profile Position-Velocity-Torque, Interpolated Position Mode (PVT), and Homing. Command sources also include ±10V analog velocity/torque, PWM velocity/torque, and stepper command pulses. Feedback from a number of incremental and absolute encoders is supported. Control Modes • Cyclic Synchronous Position, Velocity, Torque • Indexer, Point-to-Point, PVT • Camming, Gearing Command Interface • EtherCAT • ASCII and discrete I/O • Stepper commands • ±10V position/velocity/torque command • PWM velocity/torque command • Master encoder (Gearing/Camming) Communications • EtherCAT (CANopen over EtherCAT) • RS-232 Feedback Incremental • Digital quad A/B encoder • Analog sin/cos encoder • Digital Halls Absolute encoders • SSI • EnDat 2.1 & 2.2 • Absolute A • BiSS I/O • Digital: 20 inputs, 7 outputs • Analog: 2 inputs Dimensions: mm [in] • 114 x 73 x 20.6 [4.5 x 2.9 x 0.8]

PRELIMINARY Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 2 of 12 Accelnet Plus 2-Axis Module EtherCATRoHS AE2 CopleyControls Page 2 of 4 GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: 2 mH + 2 Ù line-line. Ambient temperature = 25°C, +HV = HVmax MODEL AE2-090-06 AE2-090-14 Output Power (each axis) Peak Current 6 (4.2) 14 (10) Adc (Arms-sine), ±5% Peak time 1 Sec Continuous current 3 (2.1) 7 (5) Adc (Arms-sine) per phase Maximum Output Voltage Vout = HV*0.97 - Rout*Iout INPUT POWER (module)...

PRELIMINARY Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 3 of 12 Accelnet Plus 2-Axis Module EtherCAT Copley AE2 RoHS Controls motormotormotor connections (each axis) Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors, or DC brush motors Hall U, V, W Digital Hall signals, single-ended, 1 ìs RC filter, 10 kW pull-up to +5 Vdc, 74HC14 Schmitt trigger Digital Incremental Encoder Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required) 5 MHz maximum...

PRELIMINARY Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 5 of 12 Accelnet Plus 2-Axis Module EtherCAT Copley AE2 RoHS Controls i nput-output mosfet outputsoutputs 30V 300mA300mA+30V max+R-LR-L+5V+5V[OUT2]Sgnd1k1k[OUT3]P4/32P4/33P4/38300mAR-L+5V1k[OUT1]P4/31 SPI portport 5V +3.3V [OUT4] MOSI [OUT5] SCLK [OUT6] SS1 [OUT7] SS2P4/34P4/35P4/36P4/3747p74LVC1474AHCT1251k[IN18] MISOSgnd10kP4/26P4/30Drive (SPI Master)SPISlave-1SPISlave-2+5V

PRELIMINARY Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 6 of 12 Accelnet Plus 2-Axis Module EtherCAT Copley AE2 RoHS Controls nikonnikon a absolute encoders feedback connections si n-cos analogalog encoder inputsputs digitaldigital q uadratureuadratureuadrature encoder inputS MAX3097MAX3097MAX3097Encoder* 121Ù terminating resistorson mounting boardABZ+5V0VSignal Ground***Axis 1+5V1 output @ 400 mAP5/21P5/22P5/23P5/24P5/25P5/26P5/17P5/18Enc. A1Enc. B1Enc. Index1A1/A1B1/B1X1/X1MAX3097MAX3097MAX3097Encoder* 121Ù...

PRELIMINARY Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 7 of 12 Accelnet Plus 2-Axis Module EtherCAT Copley AE2 RoHS Controls bissss absolute encoder Hall inputsputs motormotormotor over temp input **BiSSEncoderMA+MA-SL+SL-MasterMAX3362MAX3362SlaveV+V-Signal Ground* 121Ù terminating resistoron mounting boardAxis 1P5/25P5/26P5/19P5/20P5/17P5/18+5V1 output @ 400 mAX1/X1S1/S1Clk1Data1**BiSSEncoderMA+MA-SL+SL-MasterMAX3362MAX3362SlaveV+V-Signal Ground* 121Ù terminating resistoron mounting board+5V2 output @ 400...

PRELIMINARY P6P5P4P2P1P3Pin 1Pin 1Pin 1Pin 1Pin Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 8 of 12 Accelnet Plus 2-Axis Module EtherCAT Copley AE2 RoHS Controls Signal Pin Signal +HV 2 1 +HV +HV 4 3 +HV +HV 6 5 +HV +HV 8 7 +HV +HV 10 9 +HV +HV 12 11 +HV HVaux 14 13 HVaux HVGnd 16 15 HVGnd HVGnd 18 17 HVGnd HVGnd 20 19 HVGnd HVGnd 22 21 HVGnd HVGnd 24 23 HVGnd HVGnd 26 25 HVGnd P1 power Mounting board connector: Samtec SQW-113-01-F-D Signal Pin Signal MOT1 U 2 1 MOT1 U MOT1 U 4 3 MOT1 U MOT1 U 6 5 MOT1 U n.c. 8 7...